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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="stretch">
<xacro:arg name="gpu_lidar" default="false" />
<xacro:arg name="visualize_lidar" default="false" />
<xacro:include filename="$(find stretch_description)/urdf/stretch_main.xacro" />
<xacro:include filename="$(find stretch_description)/urdf/stretch_aruco.xacro" />
<xacro:include filename="$(find stretch_description)/urdf/stretch_d435i.xacro" />
<xacro:include filename="$(find stretch_description)/urdf/stretch_laser_range_finder.xacro" />
<xacro:include filename="$(find stretch_description)/urdf/stretch_respeaker.xacro" />
<xacro:include filename="$(find stretch_description)/urdf/stretch_gripper.xacro" />
<gazebo>
<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
<robotNamespace>/</robotNamespace>
</plugin>
</gazebo>
<!-- Base and Drive -->
<gazebo reference="base_link">
<material>Gazebo/Gray</material>
</gazebo>
<gazebo reference="link_right_wheel">
<mu1 value="100.0"/>
<mu2 value="200.0"/>
<kp value="10000000.0" />
<kd value="100.0" />
<material>Gazebo/Blue</material>
<minDepth>0.001</minDepth>
</gazebo>
<gazebo reference="link_left_wheel">
<mu1 value="100.0"/>
<mu2 value="200.0"/>
<kp value="10000000.0" />
<kd value="100.0" />
<material>Gazebo/Blue</material>
<minDepth>0.001</minDepth>
</gazebo>
<gazebo reference="caster_link">
<turnGravityOff>false</turnGravityOff>
<minDepth>0.001</minDepth>
<material>Gazebo/Blue</material>
<mu1>0.0</mu1>
<mu2>0.0</mu2>
</gazebo>
<transmission name="right_wheel_trans" type="SimpleTransmission">
<type>transmission_interface/SimpleTransmission</type>
<actuator name="right_wheel_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
<joint name="joint_right_wheel">
<hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
</joint>
</transmission>
<transmission name="left_wheel_trans" type="SimpleTransmission">
<type>transmission_interface/SimpleTransmission</type>
<actuator name="left_wheel_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
<joint name="joint_left_wheel">
<hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
</joint>
</transmission>
<!-- Sensors -->
<!-- Realsense D435i -->
<gazebo reference="camera_color_frame">
<sensor name="color" type="camera">
<pose frame="">0 0 0 0 0 0</pose>
<camera name="__default__">
<horizontal_fov>1.5009831567151233</horizontal_fov>
<image>
<width>640</width>
<height>480</height>
<format>RGB_INT8</format>
</image>
<clip>
<near>0.1</near>
<far>100</far>
</clip>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.007</stddev>
</noise>
</camera>
<always_on>1</always_on>
<update_rate>30</update_rate>
<visualize>0</visualize>
</sensor>
</gazebo>
<gazebo reference="camera_infra1_frame">
<sensor name="ired1" type="camera">
<pose frame="">0 0 0 0 0 0</pose>
<camera name="__default__">
<horizontal_fov>1.5009831567151233</horizontal_fov>
<image>
<width>640</width>
<height>480</height>
<format>L_INT8</format>
</image>
<clip>
<near>0.1</near>
<far>100</far>
</clip>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.007</stddev>
</noise>
</camera>
<always_on>1</always_on>
<update_rate>30</update_rate>
<visualize>0</visualize>
</sensor>
</gazebo>
<gazebo reference="camera_infra2_frame">
<sensor name="ired2" type="camera">
<pose frame="">0 0 0 0 0 0</pose>
<camera name="__default__">
<horizontal_fov>1.5009831567151233</horizontal_fov>
<image>
<width>640</width>
<height>480</height>
<format>L_INT8</format>
</image>
<clip>
<near>0.1</near>
<far>100</far>
</clip>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.007</stddev>
</noise>
</camera>
<always_on>1</always_on>
<update_rate>30</update_rate>
<visualize>0</visualize>
</sensor>
</gazebo>
<gazebo reference="camera_depth_frame">
<sensor name="depth" type="depth">
<pose frame="">0 0 0 0 0 0</pose>
<camera name="__default__">
<horizontal_fov>1.5009831567151233</horizontal_fov>
<image>
<width>640</width>
<height>480</height>
</image>
<clip>
<near>0.1</near>
<far>100</far>
</clip>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.007</stddev>
</noise>
</camera>
<always_on>1</always_on>
<update_rate>30</update_rate>
<visualize>0</visualize>
</sensor>
</gazebo>
<gazebo>
<plugin name="camera" filename="librealsense_gazebo_plugin.so">
<depthUpdateRate>30</depthUpdateRate>
<colorUpdateRate>30</colorUpdateRate>
<infraredUpdateRate>30</infraredUpdateRate>
<depthTopicName>depth/image_raw</depthTopicName>
<depthCameraInfoTopicName>depth/camera_info</depthCameraInfoTopicName>
<colorTopicName>color/image_raw</colorTopicName>
<colorCameraInfoTopicName>color/camera_info</colorCameraInfoTopicName>
<infrared1TopicName>infrared/image_raw</infrared1TopicName>
<infrared1CameraInfoTopicName>infrared/camera_info</infrared1CameraInfoTopicName>
<infrared2TopicName>infrared2/image_raw</infrared2TopicName>
<infrared2CameraInfoTopicName>infrared2/camera_info</infrared2CameraInfoTopicName>
<colorOpticalframeName>camera_color_optical_frame</colorOpticalframeName>
<depthOpticalframeName>camera_depth_optical_frame</depthOpticalframeName>
<infrared1OpticalframeName>camera_left_ir_optical_frame</infrared1OpticalframeName>
<infrared2OpticalframeName>camera_right_ir_optical_frame</infrared2OpticalframeName>
<rangeMinDepth>0.1</rangeMinDepth>
<rangeMaxDepth>10</rangeMaxDepth>
<pointCloud>1</pointCloud>
<pointCloudTopicName>depth/color/points</pointCloudTopicName>
<pointCloudCutoff>0.15</pointCloudCutoff>
<pointCloudCutoffMax>10</pointCloudCutoffMax>
</plugin>
</gazebo>
<gazebo reference="camera_gyro_frame">
<gravity>true</gravity>
<sensor name="imu_sensor" type="imu">
<always_on>true</always_on>
<visualize>false</visualize>
<plugin name="imu_plugin" filename="libgazebo_ros_imu_sensor.so">
<topicName>camera/imu/data</topicName>
<bodyName>camera_gyro_frame</bodyName>
<updateRateHZ>50.0</updateRateHZ>
<gaussianNoise>0.001</gaussianNoise>
<xyzOffset>0 0 0</xyzOffset>
<rpyOffset>0 0 0</rpyOffset>
<frameName>camera_gyro_frame</frameName>
<initialOrientationAsReference>false</initialOrientationAsReference>
</plugin>
<pose>0 0 0 0 0 0</pose>
</sensor>
</gazebo>
<!-- Aruco -->
<gazebo reference="link_aruco_right_base">
<material>Gazebo/Black</material>
</gazebo>
<gazebo reference="link_aruco_left_base">
<material>Gazebo/Black</material>
</gazebo>
<gazebo reference="link_aruco_shoulder">
<material>Gazebo/Black</material>
</gazebo>
<gazebo reference="link_aruco_top_wrist">
<material>Gazebo/Black</material>
</gazebo>
<gazebo reference="link_aruco_inner_wrist">
<material>Gazebo/Black</material>
</gazebo>
<!-- Respeaker -->
<gazebo reference="respeaker_base">
<material>Gazebo/Green</material>
</gazebo>
<!-- Non GPU LIDAR -->
<xacro:unless value="$(arg gpu_lidar)">
<gazebo reference="laser">
<material>Gazebo/Black</material>
<sensor type="ray" name="laser_sensor">
<pose>0 0 0 0 0 0</pose>
<visualize>$(arg visualize_lidar)</visualize>
<update_rate>5.5</update_rate>
<ray>
<scan>
<horizontal>
<samples>2000</samples>
<resolution>1</resolution>
<min_angle>-0.9</min_angle>
<max_angle>5.0</max_angle>
</horizontal>
</scan>
<range>
<min>0.15</min>
<max>12.0</max>
<resolution>0.01</resolution>
</range>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.001</stddev>
</noise>
</ray>
<plugin name="gazebo_ros_lidar_controller" filename="libgazebo_ros_laser.so">
<topicName>scan</topicName>
<frameName>laser</frameName>
</plugin>
</sensor>
</gazebo>
</xacro:unless>
<!-- GPU LIDAR -->
<xacro:if value="$(arg gpu_lidar)">
<gazebo reference="laser">
<material>Gazebo/Black</material>
<sensor type="gpu_ray" name="laser_sensor">
<pose>0 0 0 0 0 0</pose>
<visualize>$(arg visualize_lidar)</visualize>
<update_rate>5.5</update_rate>
<ray>
<scan>
<horizontal>
<samples>2000</samples>
<resolution>1</resolution>
<min_angle>-0.9</min_angle>
<max_angle>5.0</max_angle>
</horizontal>
</scan>
<range>
<min>0.15</min>
<max>12.0</max>
<resolution>0.01</resolution>
</range>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.001</stddev>
</noise>
</ray>
<plugin name="gazebo_ros_lidar_controller" filename="libgazebo_ros_gpu_laser.so">
<topicName>scan</topicName>
<frameName>laser</frameName>
</plugin>
</sensor>
</gazebo>
</xacro:if>
<!-- Base IMU -->
<gazebo reference="base_link">
<gravity>true</gravity>
<sensor name="base_imu" type="imu">
<always_on>true</always_on>
<visualize>false</visualize>
<plugin name="imu_plugin" filename="libgazebo_ros_imu_sensor.so">
<topicName>imu/data</topicName>
<bodyName>base_link</bodyName>
<updateRateHZ>25.0</updateRateHZ>
<gaussianNoise>0.001</gaussianNoise>
<xyzOffset>0 0 0</xyzOffset>
<rpyOffset>0 0 0</rpyOffset>
<frameName>base_link</frameName>
<initialOrientationAsReference>false</initialOrientationAsReference>
</plugin>
<pose>0 0 0 0 0 0</pose>
</sensor>
</gazebo>
<!-- Wrist IMU -->
<gazebo reference="link_wrist_yaw">
<gravity>true</gravity>
<sensor name="wrist_imu" type="imu">
<always_on>true</always_on>
<visualize>false</visualize>
<plugin name="imu_plugin" filename="libgazebo_ros_imu_sensor.so">
<topicName>wrist_imu/data</topicName>
<bodyName>link_wrist_yaw</bodyName>
<updateRateHZ>25.0</updateRateHZ>
<gaussianNoise>0.001</gaussianNoise>
<xyzOffset>0 0 0</xyzOffset>
<rpyOffset>0 0 0</rpyOffset>
<frameName>link_wrist_yaw</frameName>
<initialOrientationAsReference>false</initialOrientationAsReference>
</plugin>
<pose>0 0 0 0 0 0</pose>
</sensor>
</gazebo>
<!-- Lift -->
<gazebo reference="link_lift">
<mu1 value="10000.0"/>
<mu2 value="10000.0"/>
<kp value="10000000.0" />
<kd value="100.0" />
<material>Gazebo/Black</material>
<minDepth>0.001</minDepth>
</gazebo>
<gazebo reference="link_mast">
<material>Gazebo/Gray</material>
</gazebo>
<transmission name="trans_lift">
<type>transmission_interface/SimpleTransmission</type>
<actuator name="motor_lift">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
<joint name="joint_lift">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
</transmission>
<!-- Arm -->
<gazebo reference="link_arm_l0">
<mu1 value="100.0"/>
<mu2 value="200.0"/>
<kp value="10000000.0" />
<kd value="100.0" />
<material>Gazebo/Gray</material>
<minDepth>0.001</minDepth>
</gazebo>
<gazebo reference="link_arm_l1">
<mu1 value="100.0"/>
<mu2 value="200.0"/>
<kp value="10000000.0" />
<kd value="100.0" />
<material>Gazebo/Gray</material>
<minDepth>0.001</minDepth>
</gazebo>
<gazebo reference="link_arm_l2">
<mu1 value="100.0"/>
<mu2 value="200.0"/>
<kp value="10000000.0" />
<kd value="100.0" />
<material>Gazebo/Gray</material>
<minDepth>0.001</minDepth>
</gazebo>
<gazebo reference="link_arm_l3">
<mu1 value="100.0"/>
<mu2 value="200.0"/>
<kp value="10000000.0" />
<kd value="100.0" />
<material>Gazebo/Gray</material>
<minDepth>0.001</minDepth>
</gazebo>
<gazebo reference="link_arm_l4">
<mu1 value="100.0"/>
<mu2 value="200.0"/>
<kp value="10000000.0" />
<kd value="100.0" />
<material>Gazebo/Gray</material>
<minDepth>0.001</minDepth>
</gazebo>
<transmission name="trans_arm_l0">
<type>transmission_interface/SimpleTransmission</type>
<actuator name="motor_arm_l0" >
<mechanicalReduction>1</mechanicalReduction>
</actuator>
<joint name="joint_arm_l0">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
</transmission>
<transmission name="trans_arm_l1">
<type>transmission_interface/SimpleTransmission</type>
<actuator name="motor_arm_l1" >
<mechanicalReduction>1</mechanicalReduction>
</actuator>
<joint name="joint_arm_l1">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
</transmission>
<transmission name="trans_arm_l2">
<type>transmission_interface/SimpleTransmission</type>
<actuator name="motor_arm_l2" >
<mechanicalReduction>1</mechanicalReduction>
</actuator>
<joint name="joint_arm_l2">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
</transmission>
<transmission name="trans_arm_l3">
<type>transmission_interface/SimpleTransmission</type>
<actuator name="motor_arm_l3" >
<mechanicalReduction>1</mechanicalReduction>
</actuator>
<joint name="joint_arm_l3">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
</transmission>
<!-- Wrist -->
<gazebo reference="link_wrist_yaw">
<mu1 value="100.0"/>
<mu2 value="200.0"/>
<kp value="10000000.0" />
<kd value="100.0" />
<material>Gazebo/Black</material>
<minDepth>0.001</minDepth>
</gazebo>
<transmission name="trans_wrist_yaw">
<type>transmission_interface/SimpleTransmission</type>
<actuator name="motor_wrist_yaw" >
<mechanicalReduction>1</mechanicalReduction>
</actuator>
<joint name="joint_wrist_yaw">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
</transmission>
<!-- Head -->
<gazebo reference="link_head">
<mu1 value="100.0"/>
<mu2 value="200.0"/>
<material>Gazebo/Gray</material>
</gazebo>
<gazebo reference="link_head_tilt">
<mu1 value="100.0"/>
<mu2 value="200.0"/>
<kp value="10000000.0" />
<kd value="100.0" />
<material>Gazebo/Gray</material>
<minDepth>0.001</minDepth>
</gazebo>
<gazebo reference="link_head_pan">
<mu1 value="100.0"/>
<mu2 value="200.0"/>
<kp value="10000000.0" />
<kd value="100.0" />
<material>Gazebo/Gray</material>
<minDepth>0.001</minDepth>
</gazebo>
<transmission name="trans_head_pan">
<type>transmission_interface/SimpleTransmission</type>
<actuator name="motor_head_pan">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
<joint name="joint_head_pan">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
</transmission>
<transmission name="trans_head_tilt">
<type>transmission_interface/SimpleTransmission</type>
<actuator name="motor_head_tilt">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
<joint name="joint_head_tilt">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
</transmission>
<!-- Gripper -->
<gazebo reference="link_gripper_finger_left">
<mu1 value="100.0"/>
<mu2 value="200.0"/>
<kp value="10000000.0" />
<kd value="100.0" />
<material>Gazebo/Gray</material>
<minDepth>0.001</minDepth>
</gazebo>
<gazebo reference="link_gripper_finger_right">
<mu1 value="100.0"/>
<mu2 value="200.0"/>
<kp value="10000000.0" />
<kd value="100.0" />
<material>Gazebo/Gray</material>
<minDepth>0.001</minDepth>
</gazebo>
<gazebo reference="link_grasp_center">
<mu1 value="100.0"/>
<mu2 value="200.0"/>
<kp value="10000000.0" />
<kd value="100.0" />
<material>Gazebo/Gray</material>
<minDepth>0.001</minDepth>
</gazebo>
<gazebo reference="link_gripper_fingertip_left">
<mu1 value="100.0"/>
<mu2 value="200.0"/>
<kp value="10000000.0" />
<kd value="100.0" />
<material>Gazebo/Black</material>
<minDepth>0.001</minDepth>
</gazebo>
<gazebo reference="link_gripper_fingertip_right">
<mu1 value="100.0"/>
<mu2 value="200.0"/>
<kp value="10000000.0" />
<kd value="100.0" />
<material>Gazebo/Black</material>
<minDepth>0.001</minDepth>
</gazebo>
<gazebo reference="link_gripper">
<mu1 value="100.0"/>
<mu2 value="200.0"/>
<kp value="10000000.0" />
<kd value="100.0" />
<material>Gazebo/Gray</material>
<minDepth>0.001</minDepth>
</gazebo>
<transmission name="trans_gripper_finger_left">
<type>transmission_interface/SimpleTransmission</type>
<actuator name="motor_gripper_finger_left">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
<joint name="joint_gripper_finger_left">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
</transmission>
<transmission name="trans_gripper_finger_right">
<type>transmission_interface/SimpleTransmission</type>
<actuator name="motor_gripper_finger_right">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
<joint name="joint_gripper_finger_right">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
</transmission>
</robot>